3D Kinematic Passive-Steering Control with Roll Compensation for Rover Trajectory Following over Rough Terrain
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2020-10
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Conference Paper
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yes
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Abstract
Some of the most appealing areas for future planetary surface exploration lie in rough, uneven terrains, such as craters and cold traps, which are currently inaccessible by state-of-the-art robotic systems [1]. To provide modularity for access and in-situ sampling within such extreme environments, Jet Propulsion Laboratory (JPL) and California Institute of Technology have collaborated to develop the DuAxel rover system, a modular robot composed of two Axel rappelling vehicles docked to a central module into a four-wheeled configuration, suited for driving long distances due to articulated passivesteering capabilities [2]. Inspired by Carnegie Mellon’s Zoë rover [3], a 3D kinematic control strategy, leveraging a novel, DuAxel-centric model, has been developed to enable precise trajectory following over rough, flat terrain with presence of obstacles.
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published
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5057
Publisher
Universities Space Research Association (USRA)
Event
International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2020) (virtual)
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09718 - Mintchev, Stefano (ehemalig) / Mintchev, Stefano (former)
Notes
Conference lecture held on Otober 21, 2020. Due to the Coronavirus (COVID-19) the conference was conducted virtually.